/********************************************************************************
 * Copyright 2016 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWSIMLIBS_TEST_INTEGRATORTEST_HPP_
#define RWSIMLIBS_TEST_INTEGRATORTEST_HPP_

/**
 * @file IntegratorTest.hpp
 *
 * \copydoc rwsimlibs::test::IntegratorTest
 */

#include "EngineTest.hpp"

namespace rwsimlibs { namespace test {
    //! @addtogroup rwsimlibs_test

    //! @{
    /**
     * @brief Common parent class for all integrator tests.
     *
     * The class defines supported engines, common parameters, and a standard dynamic workcell.
     */
    class IntegratorTest : public EngineTest
    {
      public:
        //! @brief Constructor.
        IntegratorTest ();

        //! @brief Destructor.
        virtual ~IntegratorTest ();

        //! @copydoc EngineTest::isEngineSupported
        virtual bool isEngineSupported (const std::string& engineID) const;

        //! @copydoc EngineTest::getDWC
        virtual rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >
        getDWC (const rw::core::PropertyMap& map);

        //! @copydoc EngineTest::getDefaultParameters
        virtual rw::core::Ptr< rw::core::PropertyMap > getDefaultParameters () const;

        /**
         * @brief Create new dynamic workcell.
         * @param integratorType [in] (optional) the integrator to use.
         * @return the dynamic workcell.
         */
        virtual rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >
        makeIntegratorDWC (const std::string& integratorType = "");

      private:
        std::map< std::string, rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > >
            _integratorTypeToDWC;
    };
    //! @}
}}    // namespace rwsimlibs::test

#endif /* RWSIMLIBS_TEST_INTEGRATORTEST_HPP_ */
